Soft gripping provides the potential for high performance in challenging tasks through morphological computing; however, design explorations are limited by a combination of a difficulty in generating useful models and use of laborious fabrication techniques. We focus on a class of grippers based on granular jamming that are particularly difficult to model and introduce a "one shot" technique that exploits multimaterial three-dimensional (3D) printing to create entire grippers, including membrane and grains, in a single print run. This technique fully supports the de facto physical generate-and-test methodology used for this class of grippers, as entire design iterations can be fitted onto a single print bed and fabricated from Computer-Aided Design (CAD) files in a matter of hours. Initial results demonstrate the approach by rapidly prototyping in materio solutions for two challenging problems in unconventional design spaces; a twisting gripper that uses programmed deformations to reliably pick a coin, and a multifunctional legged robot paw that offers the ability for compliant locomotion over rough terrains, as well as being able to pick objects in cluttered natural environments. The technique also allows us to easily characterize the design space of multimaterial printed jamming grippers and provide some useful design rules. The simplicity of our technique encourages and facilitates creativity and innovation. As such, we see our approach as an enabling tool to make informed principled forays into unconventional design spaces and support the creation of a new breed of novel soft actuators.
机构:
Cornell Univ, Sibley Sch Mech & Aerosp Engn, Ithaca, NY 14853 USACornell Univ, Sibley Sch Mech & Aerosp Engn, Ithaca, NY 14853 USA
Amend, John R., Jr.
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机构:
Brown, Eric
Rodenberg, Nicholas
论文数: 0引用数: 0
h-index: 0
机构:
Univ Chicago, James Franck Inst, Chicago, IL 60637 USA
Univ Chicago, Dept Phys, Chicago, IL 60637 USACornell Univ, Sibley Sch Mech & Aerosp Engn, Ithaca, NY 14853 USA
Rodenberg, Nicholas
Jaeger, Heinrich M.
论文数: 0引用数: 0
h-index: 0
机构:
Univ Chicago, James Franck Inst, Chicago, IL 60637 USA
Univ Chicago, Dept Phys, Chicago, IL 60637 USACornell Univ, Sibley Sch Mech & Aerosp Engn, Ithaca, NY 14853 USA
Jaeger, Heinrich M.
Lipson, Hod
论文数: 0引用数: 0
h-index: 0
机构:
Cornell Univ, Sibley Sch Mech & Aerosp Engn, Ithaca, NY 14853 USA
Cornell Univ, Fac Comp & Informat Sci, Ithaca, NY 14853 USACornell Univ, Sibley Sch Mech & Aerosp Engn, Ithaca, NY 14853 USA
机构:
Univ Chicago, James Franck Inst, Chicago, IL 60637 USA
Univ Chicago, Dept Phys, Chicago, IL 60637 USAUniv Chicago, James Franck Inst, Chicago, IL 60637 USA
Athanassiadis, Athanasios G.
Miskin, Marc Z.
论文数: 0引用数: 0
h-index: 0
机构:
Univ Chicago, James Franck Inst, Chicago, IL 60637 USA
Univ Chicago, Dept Phys, Chicago, IL 60637 USAUniv Chicago, James Franck Inst, Chicago, IL 60637 USA
Miskin, Marc Z.
Kaplan, Paul
论文数: 0引用数: 0
h-index: 0
机构:
Univ Chicago, James Franck Inst, Chicago, IL 60637 USA
Univ Chicago, Dept Phys, Chicago, IL 60637 USAUniv Chicago, James Franck Inst, Chicago, IL 60637 USA
Kaplan, Paul
Rodenberg, Nicholas
论文数: 0引用数: 0
h-index: 0
机构:
Univ Chicago, James Franck Inst, Chicago, IL 60637 USA
Univ Chicago, Dept Phys, Chicago, IL 60637 USAUniv Chicago, James Franck Inst, Chicago, IL 60637 USA
Rodenberg, Nicholas
Lee, Seung Hwan
论文数: 0引用数: 0
h-index: 0
机构:
Univ Chicago, James Franck Inst, Chicago, IL 60637 USA
Univ Chicago, Dept Phys, Chicago, IL 60637 USAUniv Chicago, James Franck Inst, Chicago, IL 60637 USA
Lee, Seung Hwan
Merritt, Jason
论文数: 0引用数: 0
h-index: 0
机构:
Univ Chicago, James Franck Inst, Chicago, IL 60637 USA
Univ Chicago, Dept Phys, Chicago, IL 60637 USAUniv Chicago, James Franck Inst, Chicago, IL 60637 USA
Merritt, Jason
论文数: 引用数:
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机构:
Brown, Eric
Amend, John
论文数: 0引用数: 0
h-index: 0
机构:
Cornell Univ, Sibley Sch Mech & Aerosp Engn, Ithaca, NY 14853 USAUniv Chicago, James Franck Inst, Chicago, IL 60637 USA
Amend, John
Lipson, Hod
论文数: 0引用数: 0
h-index: 0
机构:
Cornell Univ, Sibley Sch Mech & Aerosp Engn, Ithaca, NY 14853 USAUniv Chicago, James Franck Inst, Chicago, IL 60637 USA
Lipson, Hod
Jaeger, Heinrich M.
论文数: 0引用数: 0
h-index: 0
机构:
Univ Chicago, James Franck Inst, Chicago, IL 60637 USA
Univ Chicago, Dept Phys, Chicago, IL 60637 USAUniv Chicago, James Franck Inst, Chicago, IL 60637 USA
机构:
Harvard Univ, Sch Engn & Appl Sci, Cambridge, MA 02138 USA
Harvard Univ, Wyss Inst Biol Inspired Engn, Cambridge, MA 02138 USAHarvard Univ, Sch Engn & Appl Sci, Cambridge, MA 02138 USA
Bartlett, Nicholas W.
Tolley, Michael T.
论文数: 0引用数: 0
h-index: 0
机构:
Univ Calif San Diego, Dept Mech & Aerosp Engn, La Jolla, CA 92093 USAHarvard Univ, Sch Engn & Appl Sci, Cambridge, MA 02138 USA
Tolley, Michael T.
Overvelde, Johannes T. B.
论文数: 0引用数: 0
h-index: 0
机构:
Harvard Univ, Sch Engn & Appl Sci, Cambridge, MA 02138 USAHarvard Univ, Sch Engn & Appl Sci, Cambridge, MA 02138 USA
Overvelde, Johannes T. B.
Weaver, James C.
论文数: 0引用数: 0
h-index: 0
机构:
Harvard Univ, Wyss Inst Biol Inspired Engn, Cambridge, MA 02138 USAHarvard Univ, Sch Engn & Appl Sci, Cambridge, MA 02138 USA
Weaver, James C.
Mosadegh, Bobak
论文数: 0引用数: 0
h-index: 0
机构:
New York Presbyterian Hosp, Dept Radiol, Dalio Inst Cardiovasc Imaging, New York, NY 10021 USA
Weill Cornell Med Coll, New York, NY 10021 USAHarvard Univ, Sch Engn & Appl Sci, Cambridge, MA 02138 USA
Mosadegh, Bobak
Bertoldi, Katia
论文数: 0引用数: 0
h-index: 0
机构:
Harvard Univ, Sch Engn & Appl Sci, Cambridge, MA 02138 USAHarvard Univ, Sch Engn & Appl Sci, Cambridge, MA 02138 USA
Bertoldi, Katia
Whitesides, George M.
论文数: 0引用数: 0
h-index: 0
机构:
Harvard Univ, Wyss Inst Biol Inspired Engn, Cambridge, MA 02138 USA
Harvard Univ, Dept Chem & Chem Biol, Cambridge, MA 02138 USAHarvard Univ, Sch Engn & Appl Sci, Cambridge, MA 02138 USA
Whitesides, George M.
Wood, Robert J.
论文数: 0引用数: 0
h-index: 0
机构:
Harvard Univ, Sch Engn & Appl Sci, Cambridge, MA 02138 USA
Harvard Univ, Wyss Inst Biol Inspired Engn, Cambridge, MA 02138 USAHarvard Univ, Sch Engn & Appl Sci, Cambridge, MA 02138 USA
机构:
Univ Chicago, James Franck Inst, Chicago, IL 60637 USA
Univ Chicago, Dept Phys, Chicago, IL 60637 USAUniv Chicago, James Franck Inst, Chicago, IL 60637 USA
Rodenberg, Nicholas
Amend, John
论文数: 0引用数: 0
h-index: 0
机构:
Cornell Univ, Sch Mech & Aerosp Engn, Ithaca, NY 14853 USAUniv Chicago, James Franck Inst, Chicago, IL 60637 USA
Amend, John
Mozeika, Annan
论文数: 0引用数: 0
h-index: 0
机构:
iRobot G&I Res, Bedford, MA 01730 USAUniv Chicago, James Franck Inst, Chicago, IL 60637 USA
Mozeika, Annan
Steltz, Erik
论文数: 0引用数: 0
h-index: 0
机构:
iRobot G&I Res, Bedford, MA 01730 USAUniv Chicago, James Franck Inst, Chicago, IL 60637 USA
Steltz, Erik
Zakin, Mitchell R.
论文数: 0引用数: 0
h-index: 0
机构:
Def Adv Res Projects Agcy, Arlington, VA 22203 USAUniv Chicago, James Franck Inst, Chicago, IL 60637 USA
Zakin, Mitchell R.
Lipson, Hod
论文数: 0引用数: 0
h-index: 0
机构:
Cornell Univ, Sch Mech & Aerosp Engn, Ithaca, NY 14853 USAUniv Chicago, James Franck Inst, Chicago, IL 60637 USA
Lipson, Hod
Jaeger, Heinrich M.
论文数: 0引用数: 0
h-index: 0
机构:
Univ Chicago, James Franck Inst, Chicago, IL 60637 USA
Univ Chicago, Dept Phys, Chicago, IL 60637 USAUniv Chicago, James Franck Inst, Chicago, IL 60637 USA
机构:
Cornell Univ, Sibley Sch Mech & Aerosp Engn, Ithaca, NY 14853 USACornell Univ, Sibley Sch Mech & Aerosp Engn, Ithaca, NY 14853 USA
Amend, John R., Jr.
论文数: 引用数:
h-index:
机构:
Brown, Eric
Rodenberg, Nicholas
论文数: 0引用数: 0
h-index: 0
机构:
Univ Chicago, James Franck Inst, Chicago, IL 60637 USA
Univ Chicago, Dept Phys, Chicago, IL 60637 USACornell Univ, Sibley Sch Mech & Aerosp Engn, Ithaca, NY 14853 USA
Rodenberg, Nicholas
Jaeger, Heinrich M.
论文数: 0引用数: 0
h-index: 0
机构:
Univ Chicago, James Franck Inst, Chicago, IL 60637 USA
Univ Chicago, Dept Phys, Chicago, IL 60637 USACornell Univ, Sibley Sch Mech & Aerosp Engn, Ithaca, NY 14853 USA
Jaeger, Heinrich M.
Lipson, Hod
论文数: 0引用数: 0
h-index: 0
机构:
Cornell Univ, Sibley Sch Mech & Aerosp Engn, Ithaca, NY 14853 USA
Cornell Univ, Fac Comp & Informat Sci, Ithaca, NY 14853 USACornell Univ, Sibley Sch Mech & Aerosp Engn, Ithaca, NY 14853 USA
机构:
Univ Chicago, James Franck Inst, Chicago, IL 60637 USA
Univ Chicago, Dept Phys, Chicago, IL 60637 USAUniv Chicago, James Franck Inst, Chicago, IL 60637 USA
Athanassiadis, Athanasios G.
Miskin, Marc Z.
论文数: 0引用数: 0
h-index: 0
机构:
Univ Chicago, James Franck Inst, Chicago, IL 60637 USA
Univ Chicago, Dept Phys, Chicago, IL 60637 USAUniv Chicago, James Franck Inst, Chicago, IL 60637 USA
Miskin, Marc Z.
Kaplan, Paul
论文数: 0引用数: 0
h-index: 0
机构:
Univ Chicago, James Franck Inst, Chicago, IL 60637 USA
Univ Chicago, Dept Phys, Chicago, IL 60637 USAUniv Chicago, James Franck Inst, Chicago, IL 60637 USA
Kaplan, Paul
Rodenberg, Nicholas
论文数: 0引用数: 0
h-index: 0
机构:
Univ Chicago, James Franck Inst, Chicago, IL 60637 USA
Univ Chicago, Dept Phys, Chicago, IL 60637 USAUniv Chicago, James Franck Inst, Chicago, IL 60637 USA
Rodenberg, Nicholas
Lee, Seung Hwan
论文数: 0引用数: 0
h-index: 0
机构:
Univ Chicago, James Franck Inst, Chicago, IL 60637 USA
Univ Chicago, Dept Phys, Chicago, IL 60637 USAUniv Chicago, James Franck Inst, Chicago, IL 60637 USA
Lee, Seung Hwan
Merritt, Jason
论文数: 0引用数: 0
h-index: 0
机构:
Univ Chicago, James Franck Inst, Chicago, IL 60637 USA
Univ Chicago, Dept Phys, Chicago, IL 60637 USAUniv Chicago, James Franck Inst, Chicago, IL 60637 USA
Merritt, Jason
论文数: 引用数:
h-index:
机构:
Brown, Eric
Amend, John
论文数: 0引用数: 0
h-index: 0
机构:
Cornell Univ, Sibley Sch Mech & Aerosp Engn, Ithaca, NY 14853 USAUniv Chicago, James Franck Inst, Chicago, IL 60637 USA
Amend, John
Lipson, Hod
论文数: 0引用数: 0
h-index: 0
机构:
Cornell Univ, Sibley Sch Mech & Aerosp Engn, Ithaca, NY 14853 USAUniv Chicago, James Franck Inst, Chicago, IL 60637 USA
Lipson, Hod
Jaeger, Heinrich M.
论文数: 0引用数: 0
h-index: 0
机构:
Univ Chicago, James Franck Inst, Chicago, IL 60637 USA
Univ Chicago, Dept Phys, Chicago, IL 60637 USAUniv Chicago, James Franck Inst, Chicago, IL 60637 USA
机构:
Harvard Univ, Sch Engn & Appl Sci, Cambridge, MA 02138 USA
Harvard Univ, Wyss Inst Biol Inspired Engn, Cambridge, MA 02138 USAHarvard Univ, Sch Engn & Appl Sci, Cambridge, MA 02138 USA
Bartlett, Nicholas W.
Tolley, Michael T.
论文数: 0引用数: 0
h-index: 0
机构:
Univ Calif San Diego, Dept Mech & Aerosp Engn, La Jolla, CA 92093 USAHarvard Univ, Sch Engn & Appl Sci, Cambridge, MA 02138 USA
Tolley, Michael T.
Overvelde, Johannes T. B.
论文数: 0引用数: 0
h-index: 0
机构:
Harvard Univ, Sch Engn & Appl Sci, Cambridge, MA 02138 USAHarvard Univ, Sch Engn & Appl Sci, Cambridge, MA 02138 USA
Overvelde, Johannes T. B.
Weaver, James C.
论文数: 0引用数: 0
h-index: 0
机构:
Harvard Univ, Wyss Inst Biol Inspired Engn, Cambridge, MA 02138 USAHarvard Univ, Sch Engn & Appl Sci, Cambridge, MA 02138 USA
Weaver, James C.
Mosadegh, Bobak
论文数: 0引用数: 0
h-index: 0
机构:
New York Presbyterian Hosp, Dept Radiol, Dalio Inst Cardiovasc Imaging, New York, NY 10021 USA
Weill Cornell Med Coll, New York, NY 10021 USAHarvard Univ, Sch Engn & Appl Sci, Cambridge, MA 02138 USA
Mosadegh, Bobak
Bertoldi, Katia
论文数: 0引用数: 0
h-index: 0
机构:
Harvard Univ, Sch Engn & Appl Sci, Cambridge, MA 02138 USAHarvard Univ, Sch Engn & Appl Sci, Cambridge, MA 02138 USA
Bertoldi, Katia
Whitesides, George M.
论文数: 0引用数: 0
h-index: 0
机构:
Harvard Univ, Wyss Inst Biol Inspired Engn, Cambridge, MA 02138 USA
Harvard Univ, Dept Chem & Chem Biol, Cambridge, MA 02138 USAHarvard Univ, Sch Engn & Appl Sci, Cambridge, MA 02138 USA
Whitesides, George M.
Wood, Robert J.
论文数: 0引用数: 0
h-index: 0
机构:
Harvard Univ, Sch Engn & Appl Sci, Cambridge, MA 02138 USA
Harvard Univ, Wyss Inst Biol Inspired Engn, Cambridge, MA 02138 USAHarvard Univ, Sch Engn & Appl Sci, Cambridge, MA 02138 USA
机构:
Univ Chicago, James Franck Inst, Chicago, IL 60637 USA
Univ Chicago, Dept Phys, Chicago, IL 60637 USAUniv Chicago, James Franck Inst, Chicago, IL 60637 USA
Rodenberg, Nicholas
Amend, John
论文数: 0引用数: 0
h-index: 0
机构:
Cornell Univ, Sch Mech & Aerosp Engn, Ithaca, NY 14853 USAUniv Chicago, James Franck Inst, Chicago, IL 60637 USA
Amend, John
Mozeika, Annan
论文数: 0引用数: 0
h-index: 0
机构:
iRobot G&I Res, Bedford, MA 01730 USAUniv Chicago, James Franck Inst, Chicago, IL 60637 USA
Mozeika, Annan
Steltz, Erik
论文数: 0引用数: 0
h-index: 0
机构:
iRobot G&I Res, Bedford, MA 01730 USAUniv Chicago, James Franck Inst, Chicago, IL 60637 USA
Steltz, Erik
Zakin, Mitchell R.
论文数: 0引用数: 0
h-index: 0
机构:
Def Adv Res Projects Agcy, Arlington, VA 22203 USAUniv Chicago, James Franck Inst, Chicago, IL 60637 USA
Zakin, Mitchell R.
Lipson, Hod
论文数: 0引用数: 0
h-index: 0
机构:
Cornell Univ, Sch Mech & Aerosp Engn, Ithaca, NY 14853 USAUniv Chicago, James Franck Inst, Chicago, IL 60637 USA
Lipson, Hod
Jaeger, Heinrich M.
论文数: 0引用数: 0
h-index: 0
机构:
Univ Chicago, James Franck Inst, Chicago, IL 60637 USA
Univ Chicago, Dept Phys, Chicago, IL 60637 USAUniv Chicago, James Franck Inst, Chicago, IL 60637 USA